Satellite and magnetic field sonde apparatus and methods

ABSTRACT

An antenna apparatus includes a magnetic field sonde and a satellite location system antenna node.

FIELD

This disclosure relates generally to GPS and sonde systems for use withdevices such as buried utility locators or other test or measurementequipment.

BACKGROUND

Buried utility locators (also denoted for brevity as “buried objectlocators” or just “locators”) are devices for sensing magnetic fieldsemitted from hidden or buried conductors (e.g., underground utilitiessuch as pipes, conduits, or cables), and processing the received signalsto determine information about the conductors and the associatedunderground environment.

While some buried utilities are electrically energized (e.g.,underground power cables) or carry currents coupled from radio signalsor other electromagnetic radiation, in some buried utility locationoperations (also denoted herein as a “locate” for brevity) currents arecoupled, either directly, inductively, or capacitively, from a buriedutility transmitter (also denoted herein as a “transmitter” forbrevity). These transmitters are configured to generate output currentsignals at predefined frequencies, phases, duty cycles, and/or havingother signal characteristics of use in locating operations, and thencouple the output current signals to the buried utility via a directcontact, and/or via inductive or capacitive coupling.

Existing transmitter devices typically lack the ability to communicateinformation with other locate system tools such as buried utilitylocators. Furthermore, existing systems including a transmitter devicemay require a user to transport a wide array of tools during the locateoperation. These tools may be numerous and burdensome for a user tocarry, however, they are commonly carried around by hand by a user or ina bag with various other items.

Accordingly, there is a need in the art to address the above-describedas well as other problems.

SUMMARY

This disclosure relates generally to GPS and sonde systems for use withdevices such as buried utility locators or other test or measurementequipment In one embodiment a buried utility locator and associated GPSand sonde system are configured so that the locator determines aposition of the GPS and sonde system relative to the locator.

Various additional aspects, features, and functionality are furtherdescribed below in conjunction with the appended Drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The present application may be more fully appreciated in connection withthe following detailed description taken in conjunction with theaccompanying drawings, wherein:

FIG. 1 is an illustration of a system using an embodiment of atransmitter device with dockable tray apparatus.

FIG. 2A is a detailed isometric view of the transmitter device withdockable tray apparatus embodiment of FIG. 1.

FIG. 2B is the view of the embodiment shown in FIG. 2A rotated to showthe opposite side.

FIG. 3 is a partially exploded view of the embodiment of FIG. 2A.

FIG. 4 is a top down view of the embodiment of FIG. 2A with mastsremoved.

FIG. 5A is a sectional view along line 5A-5A of FIG. 4 illustrating anembodiment of a latch mechanism.

FIG. 5B is the view of the latch mechanism of FIG. 5A with the latchmoved to an open position.

FIG. 6 is a top down exploded view of an embodiment of a transmitterdevice.

FIG. 7 is a top down exploded view of an alternative transmitter deviceembodiment.

FIG. 8 is an illustration of a direct connect clamp embodiment.

FIG. 9 is an illustration of a transmitter clamp embodiment.

FIG. 10 is an illustration of a Hi-Q induction device embodiment.

FIG. 11 is an illustration of the transmitter device embodiment withdockable tray apparatus from FIG. 1 utilizing multiple clamps onmultiple utilities.

FIG. 12A is a diagram of one example embodiment of a time multiplexingscheme of frequencies.

FIG. 12B is a diagram of another example embodiment of a timemultiplexing scheme of frequencies.

FIG. 12C is a diagram of another example embodiment of a timemultiplexing scheme of frequencies.

FIG. 12D is a diagram of another example embodiment of a timemultiplexing scheme of frequencies.

FIG. 12E is a diagram of another example embodiment of a timemultiplexing scheme of frequencies.

FIG. 12F is a diagram of another example embodiment of a timemultiplexing scheme of frequencies.

FIG. 12G is a flow chart illustrating an embodiment of an adaptivescheme for switching transmitter frequencies.

FIG. 13 is a flow chart illustrating how displayed utility locationinformation may be generated by fitting collected sensor and signal datato a model.

FIG. 14A is a top down exploded view of a tray apparatus embodiment.

FIG. 14B is the view of the embodiment of FIG. 14A rotated to show theopposite side.

FIG. 15 is a top down exploded view of a storage drawer embodiment.

FIG. 16 is a sectional view along line 16-16 of the embodiment of FIG.4.

FIG. 17 is an alternative embodiment of a transmitter device withdockable tray apparatus.

FIG. 18 is a top down exploded view of the transmitter device embodimentillustrated in FIG. 17.

FIG. 19 is a top down exploded view of the tray apparatus embodimentillustrated in FIG. 17.

FIG. 20 illustrates details of one embodiment of a transmitter element.

FIG. 21 illustrated details of one embodiment of multi-frequencywaveform generation.

FIG. 22 illustrates details of one embodiment of multi-output currentsignal generation from a transmitter element.

FIG. 23 illustrated details of one embodiment of multi-frequency outputcurrent signal generation from a transmitter element.

FIG. 24 illustrates details of one embodiment of a transmitter elementwith intelligent and non-intelligent clamps for coupling output currentto a utility.

FIG. 25 illustrates details of one embodiment of a multi-frequencyoutput current frequency table for use in environments with 60 Hz power.

FIG. 26 illustrates details of one embodiment of a multi-frequencyoutput current frequency table for use in environments with 50 Hz power.

FIG. 27 is an illustration of a system using an alternative embodimentof a transmitter and tray device with a locator embodiment.

FIG. 28 is an isometric view of the transmitter and tray device fromFIG. 27.

FIG. 29 is an isometric view of the transmitter and tray from FIG. 27with stowage ports opened and clamps attached.

FIG. 30 is a side view detailing the inside of the stowage ports.

FIG. 31 illustrates details of an alternate embodiment of a transmitterdevice including a GPS and sonde antenna.

FIG. 32 illustrates details of an embodiment of a GPS and sonde antennaarray.

FIG. 33 illustrates details of an embodiment of a locator system with aGPS and sonde system.

FIGS. 34A and 34B illustrate details of an embodiment of a GPS and sondeantenna array.

DETAILED DESCRIPTION OF EMBODIMENTS Overview

This disclosure relates generally to buried utility locator devices,systems, and methods used for locating utility lines, pipes, and/orother conductors that are obscured from view. More specifically, but notexclusively, the disclosure relates to utility locators and associatedGPS and sonde systems wherein the locator determines a position of theGPS and sonde system relative to the locator.

The disclosures herein may be combined in various additional embodimentswith elements, systems and methods as described in co-assigned patentsand patent applications, including transmitter and locator devices andassociated apparatus, systems, and methods disclosed in U.S. Pat. No.7,009,399, entitled OMNIDIRECTIONAL SONDE AND LINE LOCATOR, issued Mar.7, 2006, U.S. Pat. No. 7,276,910, entitled A COMPACT SELF-TUNEDELECTRICAL RESONATOR FOR BURIED OBJECT LOCATOR APPLICATIONS, issued Oct.2, 2007, U.S. Pat. No. 7,288,929, entitled INDUCTIVE CLAMP FOR APPLYINGSIGNAL TO BURIED UTILITIES, issued Oct. 30, 2007, U.S. Pat. No.7,443,154, entitled MULTI-SENSOR MAPPING OMNIDIRECTIONAL SONDE AND LINELOCATOR, issued Oct. 28, 2008, U.S. Pat. No. 7,518,374, entitledRECONFIGURABLE PORTABLE LOCATOR EMPLOYING MULTIPLE SENSOR ARRAY HAVINGFLEXIBLE NESTED ORTHOGONAL ANTENNAS, issued Apr. 14, 2009, U.S. Pat.Nos. 8,264,226, 7,619,516, entitled SINGLE AND MULTI-TRACEOMNIDIRECTIONAL SONDE AND LINE LOCATORS AND TRANSMITTERS USED THEREWITH,issued Nov. 17, 2009, U.S. Pat. No. 7,825,647, entitled COMPACT LINEILLUMINATOR FOR LOCATING BURIED PIPES AND CABLES, issued Nov. 2, 2010,U.S. Pat. No. 7,990,151, entitled TRI POD BURIED LOCATOR SYSTEM, issuedAug. 2, 2011, U.S. patent application Ser. No. 13/469,024, entitledBURIED OBJECT LOCATOR APPARATUS AND SYSTEMS, filed May 10, 2012, U.S.patent application Ser. No. 13/570,211, entitled PHASE-SYNCHRONIZEDBURIED OBJECT LOCATOR APPARATUS, SYSTEM, AND METHODS, filed Aug. 8,2012, U.S. Pat. No. 8,248,056, entitled A BURIED OBJECT LOCATOR SYSTEMEMPLOYING AUTOMATED VIRTUAL DEPTH EVENT DETECTION AND SIGNALING, issuedAug. 21, 2012, U.S. Pat. No. 8,264,226, entitled SYSTEM AND METHOD FORLOCATING BURIED PIPES AND CABLES WITH A MAN PORTABLE LOCATOR AND ATRANSMITTER IN A MESH NETWORK, issued Sep. 11, 2012, U.S. patentapplication Ser. No. 13/676,989, entitled QUAD-GRADIENT COILS FOR USE INA LOCATING SYSTEM, filed Nov. 11, 2012, U.S. patent application Ser. No.13/850,181, entitled GRADIENT ANTENNA COILS AND ARRAYS FOR USE IN ALOCATING SYSTEM, filed Mar. 25, 2013, U.S. patent application Ser. No.13/851,951, entitled DUAL ANTENNA SYSTEMS WITH VARIABLE POLARIZATION,filed Mar. 27, 2013, U.S. patent application Ser. No. 14/207,502,entitled GRADIENT ANTENNA COILS AND ARRAYS FOR USE IN A LOCATING SYSTEM,filed Mar. 12, 2014, U.S. patent application Ser. No. 14/214,151,entitled DUAL ANTENNA SYSTEMS WITH VARIABLE POLARIZATION, filed Mar. 14,2014, and U.S. patent application Ser. No. 14/446,279, entitledINDUCTIVE CLAMP DEVICES, SYSTEMS, AND METHODS, filed Jul. 29, 2014. Thecontent of each of these applications is incorporated by referenceherein in its entirety (these applications may be collectively denotedherein as the “incorporated applications”).

The following exemplary embodiments are provided for the purpose ofillustrating examples of various aspects, details, and functions of thepresent disclosure; however, the described embodiments are not intendedto be in any way limiting. It will be apparent to one of ordinary skillin the art that various aspects may be implemented in other embodimentswithin the spirit and scope of the present disclosure.

In one aspect, the disclosure relates to a utility locator andassociated GPS and sonde systems, wherein the GPS and sonde system sendsdata corresponding to a location and a sonde signal, and wherein thelocator determines a position of the GPS and sonde system relative tothe locator.

In another aspect, the disclosure relates to a buried utilitytransmitter system with a rechargeable battery system including one ormore batteries, which may be intelligent batteries. The rechargeablebatteries may be upward facing when coupled on the transmitter systemand may indicate the charge status of the battery. In some embodiments,the charge status may be indicated on the battery itself.

In another aspect, the disclosure relates to a transmitter module orelement in keeping with aspects of the disclosure that is configured toconnect multiple output devices, such as one or more of inductivedevices, capacitive devices, and/or direct contact coupling devicessimultaneously. For example, a transmitter may include various jacks forconnecting different inductive clamps, spring loaded direct contactclips, and/or other current coupling devices. A data link communicationbetween the transmitter and each connected induction device may beestablished to identify the device and to exchange data with the deviceduring operation.

In another aspect, the disclosure relates to a transmitter module orelement configured to induce an output signal or signals at multiplefrequencies and/or at multiple phase angles and/or at different orvarying amplitudes. These frequencies may, when used with acorrespondingly enabled locating system, be multiplexed in time and/orfrequency. Various switching methods may be used with an enabled locatoror other system devices to allow for time and/or phase synchronization.Communication signals between an enabled locator and transmitter may beused to communicate data or information usable to provide phasesynchronization. Additional data, such as global navigation system (GNS)data, such as data from a GPS or other positioning system or timingcommunication system signals, may also be used to facilitate phasesynchronization between the transmitter and an enabled locator. Theswitching of frequencies may be adaptive whereby the transmittedfrequency or frequencies may be determined by the nearest utility.

In another aspect, the disclosure relates to a clamp configured toindicate orientation by which the clamp may be correctly applied to autility, pipe, and/or other conductor to allow for phase synchronizationwith the induced signal from the transmitter device.

In another aspect, the disclosure relates to a transmitter module orelement including one or more sensors or devices such as, but notlimited to, receivers for global navigation systems (GNS) which may beglobal positioning satellite (GPS) receivers, Bluetooth, and industrial,scientific and medical (ISM) radio transceivers. In embodimentsutilizing GPS or other GNS receivers, the receiver may be used to timesync the transmitter as well as other system devices. The time sync maysynchronize with multiple spaced apart frequencies but still be phaselocked to the receiver(s) on a timed interval.

In another aspect, the disclosure relates to a mathematical model foruse in utility locator, whereby data representing sensed electromagneticfrequencies may be input into a mathematical data model in combinationwith other sensor and/or navigational data and thereby derive theposition of utilities or other conductors being locator. In suchsystems, a Kalman filter and/or various multivariate estimationtechniques may be used to process the data. Display information derivedin such a way may be displayed on an enabled locator or other systemdevices in combination with or instead of the sensed electromagneticdata.

In another aspect, the disclosure relates to a transmitter systemincluding a dockable tray apparatus. Such a tray apparatus may beconfigured to enhance portability of job site tools. For instance, sucha tray apparatus may include one or more of a tool tray(s) orenclosure(s), spray can storage, a support point for a GPS antennamast(s), a support point for an Omni-Induction device, a shoulder strapthat attaches to a handle, a shoulder strap that attaches to the end ofthe tray near a center point of balance, and a storage space for one ormore ground stakes. The ground stakes may further be securedmagnetically to the dockable tray apparatus. The transmitter may furtherbe removable from the tray apparatus.

In another aspect, the disclosure relates to a transmitter module orelement configured to connect multiple induction devices simultaneously.For instance, such a transmitter may include various jacks forconnecting different clamps and/or other devices. A data linkcommunication to each connected induction device may be established toidentify the device and to exchange data with the device.

In another aspect, the disclosure relates to a transmitter module orelement configured to induce multiple frequencies into a utility, eithervia a single output current signal or multiple current output signals.These frequencies may, when used with an enabled locating system, bemultiplexed in time and/or frequency. Various switching schemes may beused with an enabled locator or other system devices to allow for phasesynchronization. The switching of frequencies may be adaptive wherebythe transmitted frequency or frequencies may be determined by thenearest utility to the receiver.

In another aspect, the disclosure relates to a transmitter module orelement including one or more sensors/devices such as, but not limitedto, receivers for global navigation systems (GNS) which may be globalpositioning satellite (GPS) receivers, Bluetooth, and industrial,scientific and medical (ISM) radio transceivers. In embodimentsutilizing GPS or other GNS receiver, the receiver may be used to timesync the transmitter as well as other system devices. The time sync maysynchronize with multiple spaced apart frequencies but still be phaselocked to the receiver(s) on a timed interval.

In another aspect, the disclosure relates to a transmitter system forproviding current to a utility when performing a locate operation. Thetransmitter system may, for example, include a transmitter module ortransmitter element for generating an output current for provision tothe utility so as to generate a magnetic field for detection by autility locator. The transmitter system may include a tray apparatusconfigured to be removably dockable to the transmitter module or elementor a body or frame of the transmitter system.

The tray apparatus may, for example, include one or more containerholders. The one or more container holders may include a paint canisterreceptacle feature configured to hold one or more spray paint cans. Thesystem may include one or more antenna elements, and the tray apparatusmay include one or more mounting elements for securing the antennaelements to the tray. The one or more antenna elements may include a GPSantenna. The one or more antenna elements may include a Wi-Fi orBluetooth antenna or other short-range wireless data system antenna. Theone or more antenna elements may include an antenna mast, and theantenna mast may be configured to be removably attached to the trayapparatus and/or the transmitter element or element.

The tray apparatus may include a ground stake receptacle element. Theground stake receptacle element may include one or more magnets and anarea of the tray accessory may be formed or molded to receive a groundstake. The tray apparatus may further include a carrying structure. Thetray apparatus may further include one or more storage drawers. The oneor more drawers may be retained with one or more latch mechanisms. Thetray apparatus may further include a latch punch element. The carryingstructure may include one or more strap mounting elements for securing astrap to the tray apparatus. The transmitter system may include one ormore latch mechanisms to removably couple the tray apparatus to thetransmitter element or a body or frame of the transmitter system. Thelatch mechanisms may include a latch element, a spring, and a springretainer nubbin formed on the body of the tray apparatus. Thetransmitter module may include one or more lip features to which thelatch element is secured.

The transmitter system may, for example, further include an inductiondevice coupled to an output of the transmitter module or transmitterelement to induce current flow in the utility. The induction device maybe an omni-directional induction device. The induction device may be acoil and the coil may be disposed within a shell of the transmitterelement or module.

The transmitter module or element may, for example, include a top shellhalf and a bottom shell half. The top shell half may include one or moreclamp jacks. The system may further include one or more clamps, whereinthe top shell half and the bottom shell half may be secured togetherwith the one or more clamps. An induction coil may be disposed withinthe top half shell and the bottom half shell. The system may furtherinclude a direct connect ohmic clamp. The direct connect clamp may beelectrically coupled to the transmitter element through an accessorydevice clamp jack. The direct connect clamp may be an intelligent clampor a non-intelligent clamp. The direct connection clamp may include apolarization indicator to allow a user to connect the clamp to a utilitywith the correct polarity to determine direction of current flow. Thedirect connection claim includes a utility type selector to allow a userto select a utility type and provide information on the utility type tothe transmitter module or element.

The transmitter module or element may be configured to provide aplurality of output current signals. Ones of the plurality of outputcurrent signals may comprise signal components of multiple frequencies.The signal components of multiple frequencies may be combined at anoutput of a digital signal processor other electronic signal generationelement. The plurality of output current signals may include three ormore signals and the three or more signals may be simultaneouslyprovided as outputs. The plurality of output current signals may includesignals provided in different time slots. The different time slots maybe at least partially non-overlapping. The different time slots of twoor more of the plurality of output current signals may overlap. Theplurality of output current signals may be provided at a plurality ofdifferent frequencies, and the time slots may be selected to provide anintegral number of phases of each of the plurality of differentfrequencies. The plurality of output current signals may be provided atthe same frequency.

The plurality of output current signals may, for example, be provided ina plurality of time slots, and the plurality of time slots may be atleast partially non-overlapping. A first of the plurality of outputcurrent signals may be provided at a first frequency, and a second ofthe plurality of output current signals may be provided at a secondfrequency different than the first frequency. A first of the pluralityof output current signals and the second of the plurality of time slotsmay be at least partially non-overlapping. Ones of the plurality ofoutput current signals may be provided in a predefined sequence. Thepredefined sequence may be a periodic sequence. The predefined sequencemay be a pseudo-random sequence. Data defining the predefinedpseudo-random sequence may be communicated from the transmitter elementto an associated utility locator. One or more of the output currentsignals may be suppressed during a transition window between time slots.The output current signals may be adaptively selected based at least inpart on one or more utility types.

The transmitter element may, for example, be configured to receiveinformation from an associated locator defining nearest utilityinformation, and may generate output current signals to be supplied onlyto the defined nearest utility. The transmitter element may beconfigured to receive information from an associated locator definingone or more utility to which output current should be coupled, and maygenerate output current signals to be supplied to the defined one ormore utilities.

The system may, for example, further include a timing system module. Thetiming system module may be a GPS module. The timing system module maybe a terrestrial timing system module. The system may further include acellular data communications system module. The cellular datacommunications system module may be a long term evolution (LTE) systemmodule. The cellular data communications system module may be a CDMAsystem module. The system may further include a wireless datacommunications module configured to communicate with an associatedutility locator via a wireless data communications link. The system mayfurther include an anti-theft module configured to sense a motion of thetransmitter system and generate an alarm response. The alarm responsemay be wirelessly transmitter to a corresponding utility locator.

The transmitter element may, for example, include a processing element,and the processing element may be configured to control, at leastpartially via a wireless data communications link, operation of thetransmitter element.

The system may further include an intelligent rechargeable batteryremovably coupled to the transmitter. The system may further include afirst intelligent rechargeable battery removably coupled to thetransmitter and a second intelligent rechargeable battery removablycoupled to the transmitter. The transmitter element may be furtherconfigured to dynamically switch power supplied to the transmitter fromthe first rechargeable battery to the second rechargeable battery.

The system may, for example, further include one or more magnetsdisposed on the tray apparatus for attaching one or more ground stakesto the tray apparatus. The system may further include an inductivecurrent clamp including a connection polarity indicator. The system mayfurther include an intelligent inductive current clamp. The intelligentinductive current clamp may include a utility type selector.

In another aspect, the disclosure relates to a tray apparatus configuredto be removably dockable to a transmitter module or element or a body orframe of a transmitter system.

The tray apparatus may, for example, include one or more containerholders. The one or more container holders may include a paint canisterreceptacle feature configured to hold one or more spray paint cans. Thesystem may include one or more antenna elements, and the tray apparatusmay include one or more mounting elements for securing the antennaelements to the tray. The one or more antenna elements may include a GPSantenna or antenna array. The one or more antenna elements may include aWi-Fi or Bluetooth antenna or other short-range wireless data systemantenna. The one or more antenna elements may include an antenna mast,and the antenna mast may be configured to be removably attached to thetray apparatus and/or to a transmitter module or element. The trayapparatus may include a ground stake receptacle element. The groundstake receptacle element may include one or more magnets and an area ofthe tray accessory may be formed or molded to receive a ground stake.The tray apparatus may further include a carrying structure. The trayapparatus may further include one or more storage drawers. The one ormore drawers may be retained with one or more latch mechanisms. The trayapparatus may further include a latch punch element. The carryingstructure may include one or more strap mounting elements for securing astrap to the tray apparatus. One or more magnets may be disposed on thetray apparatus for attaching one or more ground stakes to the trayapparatus.

In another aspect, the disclosure relates to a transmitter moduleelement for generating an output current for provision to the utility soas to generate a magnetic field for detection by a utility locator.

The transmitter module or element may, for example, include a top shellhalf and a bottom shell half. The top shell half may include one or moreclamp jacks. The system may further include one or more clamps, whereinthe top shell half and the bottom shell half may be secured togetherwith the one or more clamps. An induction coil may be disposed withinthe top half shell and the bottom half shell. A direct connect clamp maybe electrically coupled to the transmitter element through an accessorydevice clamp jack. The direct connect clamp may be an intelligent clampor a non-intelligent clamp. The direct connection clamp may include apolarization indicator to allow a user to connect the clamp to a utilitywith the correct polarity to determine direction of current flow. Thedirect connection claim may include a utility type selector to allow auser to select a utility type and provide information on the utilitytype to the transmitter module or element.

The transmitter module or element may be configured to provide aplurality of output current signals. Ones of the plurality of outputcurrent signals may comprise signal components of multiple frequencies.The signal components of multiple frequencies may be combined at anoutput of a digital signal processor other electronic signal generationelement. The plurality of output current signals may include three ormore signals and the three or more signals may be simultaneouslyprovided as outputs. The plurality of output current signals may includesignals provided in different time slots. The different time slots maybe at least partially non-overlapping. The different time slots of twoor more of the plurality of output current signals may overlap. Theplurality of output current signals may be provided at a plurality ofdifferent frequencies, and the time slots may be selected to provide anintegral number of phases of each of the plurality of differentfrequencies. The plurality of output current signals may be provided atthe same frequency.

The plurality of output current signals may, for example, be provided ina plurality of time slots, and the plurality of time slots may be atleast partially non-overlapping. A first of the plurality of outputcurrent signals may be provided at a first frequency, and a second ofthe plurality of output current signals may be provided at a secondfrequency different than the first frequency. A first of the pluralityof output current signals and the second of the plurality of time slotsmay be at least partially non-overlapping. Ones of the plurality ofoutput current signals may be provided in a predefined sequence. Thepredefined sequence may be a periodic sequence. The predefined sequencemay be a pseudo-random sequence. Data defining the predefinedpseudo-random sequence may be communicated from the transmitter elementto an associated utility locator. One or more of the output currentsignals may be suppressed during a transition window between time slots.The output current signals may be adaptively selected based at least inpart on one or more utility types.

The transmitter module or element may, for example, be configured toreceive information from an associated locator defining nearest utilityinformation, and may generate output current signals to be supplied onlyto the defined nearest utility. The transmitter element may beconfigured to receive information from an associated locator definingone or more utility to which output current should be coupled, and maygenerate output current signals to be supplied to the defined one ormore utilities.

The transmitter module or element may, for example, further include atiming system module. The timing system module may be a GPS module. Thetiming system module may be a terrestrial timing system module. Thetransmitter module or element may further include a cellular datacommunications system module. The cellular data communications systemmodule may be a long term evolution (LTE) system module. The cellulardata communications system module may be a CDMA system module. Thetransmitter module or element may further include a wireless datacommunications module configured to communicate with an associatedutility locator via a wireless data communications link. The transmittermodule or element may further include an anti-theft module configured tosense a motion of the transmitter system and generate an alarm response.The alarm response may be wirelessly transmitter to a correspondingutility locator.

The transmitter element may, for example, include a processing element,and the processing element may be configured to control, at leastpartially via a wireless data communications link, operation of thetransmitter element.

The transmitter module or element may further include an intelligentrechargeable battery removably coupled to the transmitter module orelement. The system may further include a first intelligent rechargeablebattery removably coupled to the transmitter and a second intelligentrechargeable battery removably coupled to the transmitter module orelement. The transmitter module or element may be further configured todynamically switch power supplied to the transmitter from the firstrechargeable battery to the second rechargeable battery.

Various additional aspects, features, and functions are described belowin conjunction with FIGS. 1 through 34B of the appended Drawings.

It is noted that as used herein, the term, “exemplary” means “serving asan example, instance, or illustration.” Any aspect, detail, function,implementation, and/or embodiment described herein as “exemplary” is notnecessarily to be construed as preferred or advantageous over otheraspects and/or embodiments.

Example Transmitter Devices Used in Locating Systems

Turning to FIG. 1, an exemplary embodiment 100 of a transmitter systemincluding a transmitter module or element and a removably dockable tryapparatus is illustrated. Transmitter system embodiment 100 as shown mayinclude a transmitter element, module, or device 110 and a removablydockable tray apparatus 120. The transmitter system 100 may beconfigured to generate current signals to be provided to hidden orburied utilities to induce electromagnetic signals onto a conductor(s),such as the utility line 130, which is typically buried underground orotherwise at least partially hidden from direct access. A user 140equipped with a corresponding utility locator, such as locator device150 as shown, which is configured to sense the emitted magnetic fieldsignal(s) associated with current flow in the utility 130, may thendetermine information associated with the buried utility 130, such asdepth, position, location, orientation, conductor current, soilcondition, presence of other utilities, and the like. The locator device150 may include or be coupled to additional elements (not shown inFIG. 1) such as one or more GPS systems including one or more GPSantennas and receivers, as well as other elements not shown in FIG. 1.In some embodiments the GPS system may include a sonde device fixedlyattached to or coupled to the GPS antenna such that magnetic fieldsignals, such as, for example, low frequency signals in the 1-20 kHzfrequency range, are detected by the locator so as to determine therelative difference in position between the GPS antenna and the locator.Such a configuration may be advantageous in various embodiments, but inparticular in embodiments where the GPS system antenna is positionedseparately from the locator, such as a GPS antenna worn on user 140'sback or positioned on a vehicle or other separate position from thelocator. The sonde may be in an air core coil configuration, and thesonde center or centroid may be positioned at a defined positionrelative to the antenna phase center of the GPS antenna. In someembodiments the centroid and the antenna phase center may be aligned. Insuch a configuration the GPS system may determine location coordinatebased on the antenna phase center of the GPS antenna, and the locatormay determine the relative position or distance, typically in threedimensions, of the GPS antenna compared to the position of the locator.The locator may then associated this relative position or distance withburied utility information determined from magnetic field signalsemitted by the buried utility or object, such as depth and/or relativehorizontal offset and/or other utility locator information, and storethe associated information. This information may include a preciselocation (e.g., in latitude/longitude/depth or other referencecoordinates) of the buried utility. Data, such aslatitude/longitude/altitude coordinates of the GPS antenna phase center,may be communicated between the GPS system and locator via wired orwireless connections via transmitter, receiver, and/or transceivermodules, such as via Bluetooth, WiFi, and the like.

A wireless data communications link may be established between thetransmitter module 110 and the locator device 150 to communicate databetween the transmitter module 110 and the locator device 150. The linkmay be established using a wireless data communications module in orcoupled to the transmitter module 110 to receive data and informationfrom the locator and/or send data and information to the locator, suchas data received from a corresponding locator or other electroniccomputing device, or data sent to a corresponding locator or otherelectronic computing device. An associated locator, such as locator 150as shown, may include a corresponding wireless data communicationsmodule.

The data communicated between the locator and transmitter may, forexample, be information related to transmitter or locator operation,such as signal(s) being sent by the transmitter, phase or timinginformation at either the transmitter, locator, or both, output signalpower levels at the transmitter, received signal information providedfrom the locator, control signals from the locator to controltransmitter operation, or vice-versa, other operational information fromthe transmitter or locator, and the like. For example, in someembodiments, the locator device 150 may be configured with a processingmodule to control, at least in part, the transmitter module 110 throughthe use of the wireless link. The transmitter module 110 may include orbe coupled to a corresponding processor module to effect controlfunctions and/or send or receive associated data. For instance, poweringon/off, attached device control, and frequency selection controls forthe transmitter module 110 may be provided, via the wireless link,through the interface on the locator device 150. The wireless datacommunications module may, for example, be a Bluetooth, Wi-Fi, Zigbee,cellular, or other wireless data communications module as known ordeveloped in the art.

The transmitter module 110 and/or locator device 150 may be equippedwith global navigation system (GNS) modules or sensors, such as globalpositioning system (GPS) receiver modules, GLONASS system modules,Galileo system modules, as well as time synchronization receivers ormodules, cellular or data communications modules, and/or other sensorsor modules, such as inertial sensors, environmental condition sensors,or other data sensing or acquisition sensors or modules. Data from thesenavigation systems and/or inertial sensors, as well as other sensorsand/or devices, may be communicated via wireless link from thetransmitter module 110 to the locator device 150 and vice versa.

In some embodiments, the transmitter system 100 may include a securityor anti-theft module that may be coupled to or integral with thetransmitter module. For example, in one embodiment an alarm warning,which may be generated in a processing module and/or anti-theft alarmmodule of the transmitter, may be generated and communicated to a buriedobject locator and/or other system device that includes a correspondingreceiver, such as when there is a detected motion, tilt, or movement ofthe transmitter system. Movement detection may, for example, be based ona tilt sensor, inertial sensor, GNS module output, or other motiondetection module or device. This warning alarm may be used as part of ananti-theft system and aid in protecting a transmitter device which, insome applications, may be operating out of sight during the locateprocedure and/or may be stored away from a user. The alarm system mayinclude internal alarm elements in the transmitter, such as lights orother visual alarm indicators, buzzers or other audio alarm generationelements, or other elements for signaling that the transmitter has beenmoved, such as a wired or wired alarm signal provided to a separatealarm device, such as a pager, cellular phone, tablet, or other devicethat may be carried by a user and/or monitored at a remote sight.

In some embodiments, a wireless link may also be established betweenother devices within the utility locating system. For instance, thetransmitter module 110 may also be configured to communicate with one ormore locators, GPS systems, a smart paint stick device, laptop computer,tablet computer, wireless local area network (WLAN) or wide area network(WAN) module, smart phone or other cellular device or system, and/orother electronic computing systems or devices incorporating processingelements. Examples of technologies that may be used to establish such awireless link may include, but are not limited to, Bluetooth wirelessdevices, industrial, scientific and medical (ISM) radio devices, and/orwireless area network (WAN) technologies such as Wi-Fi (WLAN) and Wi-Maxnetworks as well as cellular or other data networks.

Turning to FIGS. 2A-3, in exemplary embodiments, the transmitter module110 may be removably coupled to a tray apparatus, such as example trayapparatus embodiment 120 as shown. The tray apparatus may be coupled tothe transmitter module, and/or to an associated body or support frame,via various mechanical connection mechanisms, such as tabs and slots,spring mechanisms, screws or pins, hinges, clips, and the like. In anexemplary embodiment the transmitter body or frame is integral with thetransmitter module; however, in some embodiments the tray apparatus maybe removably attachable to the body or frame in place of, or in additionto, the transmitter module.

A tray apparatus such as embodiment 120 may include inserts, cutouts,molded shapes or forms, or other structures or forms to store and carryvarious tools, devices, and other apparatus that may be used at a jobsite. For example, one or more antenna masts, such as the antenna masts222, may secure to the tray apparatus 120 via mounting elements. Theantenna masts may include cabling to electrically connect various mastattachments devices such as the GPS antenna 224 and/or theomni-directional induction device 226 as shown. Further teachingsregarding some example GPS antenna devices that may be used in varioustransmitter system embodiments are disclosed in co-assigned U.S. patentapplication Ser. No. 13/851,951, entitled DUAL ANTENNA SYSTEMS WITHVARIABLE POLARIZATION, filed Mar. 15, 2013, the content of which isincorporated by reference herein. Further teachings regarding exampleomni-directional induction devices are disclosed in co-assigned U.S.patent application Ser. No. 13/894,038, entitled OMNI-INDUCERTRANSMITTING DEVICES AND METHODS, filed May 14, 2013, the content ofwhich is incorporated by reference herein.

In some embodiments, the GPS antenna 224 and/or the omni-directionalinduction device 226 may be replaced with a combined satellitenavigation and sonde antenna node. Illustrated in FIG. 31, a transmittersystem 3100 in keeping with the present disclosure may include acombined GPS and sonde antenna node 3110 (further illustrated in detailin FIG. 32) which may be such a combined satellite navigation and sondeantenna node. A similar configuration of GPS and sonde may also be usedwith various locator embodiments.

A combined satellite navigation and sonde antenna may further includeone or more satellite navigation system antennas and one or more sondeantenna coils such that all antennas within the node share a commoncenter (i.e., a GPS antenna phase center and a sonde outer coil centroidat a fixed point in space relative to the antenna structures. Forexample, the combined GPS and sonde antenna node 3110 of FIGS. 31 and 32may include a GPS antenna 3112 and a sonde antenna 3114 aligned with theGPS antenna 3112 nested within the sonde antenna 3114 such that the GPSantenna 3112 and the sonde antenna 3114 share a common center. The GPSantenna 3112 may be similar to the GPS antenna 224 disclosed withrespect to FIGS. 2A-3 and further configured to receive GPS and/or othersatellite navigation system for purposes of determining position and/orprecisely keeping time. The sonde antenna 3114 may be a singular ormultiple antenna coils in various geometries configured to transmitoutput current signals which may further be induced onto utility linesand/or other nearby conductors and/or received by a correspondinglocator. In some embodiments the GPS antenna and coupled sonde may bedisposed on a user's back, such as in the form of a combined GPS andsonde mast antenna system. Additional sonde elements may include drivercircuitry to generate current signals to be applied to the sonde coilsand/or power supply modules, such as in the form of wired power and/orbatteries to power the sonde and driver circuitry. In some embodiments,the sonde antenna 3114 and/or other sonde antennas may further beconfigured to receive signal(s) from other elements of the locatorsystem. Further disclosures regarding sonde antenna embodiments that maybe used in conjunction with the disclosures here are detailed in theincorporated patents and patent applications.

In some embodiments, an antenna mast, such as the antenna masts 222, maybe configured to be removable from the tray apparatus 120 and further beconfigured to be re-attached directly to an enabled transmitter deviceor other enabled system device, thereby allowing for the variousattachments or devices to operate with the transmitter device or othersystem devices without the presence of the tray apparatus 120.Specialized compartments for other job site tools, devices, and or otherapparatus, such as one or more ground stakes 230 and marking paintcanisters 240, may also be included. For example, cutouts or otherstructures may be formed or molded to receive spray cans, which arecommonly used during locate operations. These may be formed asreceptacle features, such as paint canister receptacle features 245 asshown, or in other shapes or forms to receive and retain cans or otherpaint containers or receptacles.

In the tray apparatus 120, the ground stake 230 may be configured to beattached to and transported within a ground stake receptacle element235. The ground stake receptacle element 235 may utilize internalmagnets to aid in holding one or more ground stakes 230 in place, suchas in an area of the tray formed or molded to receive a ground stake.

Paint canister receptacle features 245 formed or molded or attached tothe tray apparatus 120 may hold marking paint canisters 240 in placewhen not in use. In other embodiments, different quantities of suchreceptacles may be included. Further, in some alternative embodiments,other tool specific receptacles, such as, for example, flag marker orwrench receptacles may also be included. Further details regarding theground stake receptacle element embodiment 235 and the paint canisterreceptacle feature embodiment 245 are described in subsequentparagraphs. The tray apparatus embodiment 210 may be fitted with ashoulder strap 250, or other carrying structure, which may secure toshoulder strap mounting elements 255 on two sides of the tray apparatus120. As illustrated in FIG. 2B, the tray apparatus 120 may include oneor more storage drawers 260 allowing for further storage of tools orother items.

Turning to FIGS. 3-5B, the tray apparatus embodiment 120 may beconfigured to be removably attachable to the transmitter module 110and/or to an associated transmitter element body or frame. In anexemplary embodiment as shown, the transmitter element may be integralwith the body or frame; however, in some embodiments the tray apparatusmay be separately attachable to the body or frame. Further, in someembodiments the transmitter element may be separately removablyattachable to the body or frame (not shown). The removable attachmentmay be implemented using various attachment mechanisms as are known ordeveloped in the art. For example, in an exemplary embodiment as bestillustrated in FIGS. 4-5B, the tray apparatus 120 may include one ormore latch mechanisms 410 that when released allow the tray apparatus120 to be freed and pulled away from the transmitter module 110.

Turning to FIGS. 5A and 5B, the latch mechanisms 410 may furthercomprise a latch element 412, a spring 414, and spring retainer nubbin416 formed on the body of the tray apparatus 120. One end of each of thesprings 414 may secure to a spring retainer nubbins 416. The oppositeend of each spring 414 may secure to one of the latch elements 412. Eachlatch element 412 may be configured to secure about the top and bottomof a lip feature 512 formed about the transmitter device 110.

When a rotational force, such as the rotational force 520 as illustratedin FIG. 5B, is applied to each of the latch elements 412 the springs 414may compress, allowing the latch element 412 to pivot and free the trayapparatus 120 from the transmitter module 110. The tray apparatus 120may then be lifted upward away from the transmitter module 110. Inalternative embodiments in keeping with the present disclosure, otherlatch mechanisms or other attachment mechanisms, such as hinges, pins,clips, screws or other threaded connectors, or other attachmentmechanisms may also be used to dock a tray apparatus with a transmitterdevice.

Turning to FIG. 6, the transmitter module 110 may include a top shellhalf 610 and a bottom shell half 620. The top shell half 610 may includea series of accessory device and clamp jacks 612, whereby a series ofclamps and other accessory devices (described in subsequent paragraphs)may be connected to the transmitter module 110. Electrical power and/ordata link communication may be established with the transmitter module110 through such accessory device and clamp jacks 615.

Still referring to FIG. 6, a lip feature 512 on the transmitter module110 may be formed where the top shell half 610 and the bottom shell half620 meet in assembly. A series of clips 625 may secure about the lipfeature 512 so as to secure the top shell half 610 and the bottom shellhalf 620 together. The transmitter element may include or be coupled toa battery dock or other coupling element. For example, the battery dockmay include two battery contacts or terminals 630, which may secure tothe top surface of the top shell half 610 by a series of batteryterminal screws 632 or other connectors. In use, one or more batteries,such as batteries 640, may connect to the transmitter device 610 throughthe battery terminals 630 and be used to power the transmitter module110 and/or other attached accessories/devices.

For example, in an exemplary embodiment, the battery may be anintelligent battery configured similarly to those disclosed in U.S.patent application Ser. No. 13/532,721 entitled MODULAR BATTERY PACKAPPARATUS, SYSTEMS, AND METHODS filed Jun. 25, 2012, the content ofwhich is incorporated by reference herein in its entirety. Inalternative embodiments, a different quantity and/or type of batteriesmay be used. Some embodiments may also include indicators, for instanceaudible or visual indicators, to indicate available power left onbatteries or other battery or system power data or information. Somesuch indicators may individual indicators for each battery and audibleindicators for low battery warnings.

The batteries 640 may electrically connect to a PCB stack 650 within thetransmitter module 110. The PCB stack 650 may within the bottom shellhalf 620. Various electronic components, processor(s), and/or sensorsnot illustrated in FIG. 6 may be included in the PCB stack 650, such asprocessing elements, power circuits, control circuits, voltage and/orcurrent sensors, and the like to generate signals in transmitter module110, with the output signals then directly and/or indirectly coupledonto utilities, such as conductive underground pipes or other utilitieshaving conductive tracer wires and the like. The output signals may begenerated based in part on sensor information, such as to be time orphase synchronized and/or otherwise adjusted based on locator ortransmitter position or location. Such sensors may include, but are notlimited to, inertial sensors, GPS, GLONASS, Galileo, gyroscopic sensors,and compass sensors. Such embodiments may be configured to receive datafrom the positioning system devices, determine a transmitter devices ownlocation and/or determine and/or track the relative location of otherenabled system devices, such as enabled utility locators. For example,utility locator positional information may be determined simultaneouslyto that of the transmitter, and the relative position between the twodevices may also be determined.

Still referring to FIG. 6, two handle mount elements 660 may secure tothe top of the top shell half 610 by handle screws 665 so as to attach ahandle 670 about the top of the transmitter element 110. The handle 670may aid in ease of transport of the transmitter element 110 and/oroverall transmitter with dockable tray system 100. In assembly, each ofthe handle mount elements 660 may be positioned about the bottom of thehandle 670 such that, when attached to the top shell half 610 of thetransmitter element 110 by handle screws 665, the bottom section of thehandle 670 may be trapped by a lip on the handle mount element 660 andsecure in place the handle 670.

Turning to FIG. 7, an alternative transmitter system embodiment 700 mayinclude the assembly of transmitter element embodiment 110 asillustrated in FIG. 6 with the addition of an induction coil 710 or coil720 which may have a magnetic core such as the ferrite core 722. Theinduction coil 710 may secure within the top shell half 610 and bottomshell half 620 and be configured to induce current signals into utilitylines, pipes, and/or other conductors from provided transmitter outputsignals.

As illustrated in FIGS. 8-10, some example clamps and other devices areshown. These devices may be connected through the accessory device andclamp jacks 615 (FIG. 6) and used with the transmitter element 110 (FIG.6). Various other clamps, devices, and other accessories may alsoconnect to a transmitter device in keeping with the present disclosurethrough the accessory device and clamp jacks, such as the accessorydevice and clamp jacks 615 illustrated in FIG. 6 and/or via otherconnection mechanism for connecting such clamps, devices, and/or otheraccessories. In various embodiments, clamps and associated elements,such as, for example, are described in co-assigned U.S. PatentApplication Ser. No. 61/859,718 which is incorporated herein byreference, may be included in embodiments with the various elements andconfigurations as described herein.

In FIG. 8, direct connect clamps 810 may connect to a transmitterelement 110 (FIG. 6) through an accessory device clamp jack 615 (FIG. 6)to provide a low resistance physical contact connection to the buriedutility or a conductor connected to the utility. The direct connectclamps 810 may be configured to pinch open as illustrated and clamp backclosed to grip a utility line, pipe, ground stake, and/or otherconductor. Disclosures of example clamp embodiments that may be used inconjunction with the disclosures here in various embodiments aredescribed in co-assigned U.S. Pat. No. 7,288,929, entitled INDUCTIVECLAMP FOR APPLYING SIGNAL TO BURIED UTILITIES, issued Oct. 30, 2007, theentirety of which is included by reference herein. In the various clampsand other attachment devices, such as the direct connect clamps 810, adata-link may be established to an enabled transmitter, locator, and/orother systems allowing for the exchange of sensor or other data andcommands.

In FIG. 9, a transmitter clamp 910 may connect to a transmitter element110 (FIG. 6) through an accessory device clamp jack 615 (FIG. 6) andclamp to an accessible utility line or other conductor. In someapplications, multiple clamps, such as multiple transmitter clamps 910,may be used simultaneously. In such applications, a transmitter inkeeping with aspects of the present disclosure may be configured formultiplexing output signals in time and/or frequency through thedifferent clamps and/or other active and passive signal inducingaccessory devices. The transmitter clamp 910 may have a polarizationindicator, such as the indicator mark 912, to indicate the orientationby which each transmitter clamp 910 should be attached to the utilityand or other conductor such that an enabled locator may be phasesynchronized with the transmitted signal or signals. In the transmitterclamp 910, a utility type selector 914 may allow the user to indicatethe utility type by which the transmitter clamp 910 is connected (e.g.,gas line, water line, sewer line, etc.). The utility type selector maygenerate a signal to be provided to the transmitter element so as todefine a utility type to which the clamp is coupled and to selectappropriate frequencies based at least in part on the selected type. Theutility type information may be communicated via either a wired orwireless connection between the clamp and the transmitter. Details ofthis functionality are further described subsequently herein.

In the various clamps and other attachment devices, such as thetransmitter clamp 910, a data-link may be established to an enabledtransmitter and/or other systems allowing for the exchange of sensor orother data and commands. Various clamp configurations may include a datasensor or interface and/or a wired or wireless data communicationsmodule to provide information from the clamp, such as voltage, current,power, phase, and the like, to other devices in wireless communication,such as an associated locator or other electronic computing system. Insome embodiments, data from sensors in the clamp may be provided to thetransmitter element via wired or wireless connections, and may then befurther communicated, such as via a wireless communications module in orcoupled to the transmitter element, to associated devices such aslocators, cellular phones, tablets, or other electronic computingdevices or systems.

In FIG. 10, an inductive device, such as Hi-Q induction device 1010, maybe connected to a transmitter element 110 (FIG. 6) through an accessorydevice clamp jack 615 (FIG. 6). In use, a Hi-Q inductive device 1010 maybe configured to induce signal onto utilities, pipes, and/or otherconductors without establishing a direct connection. In the variousclamps and other attachment devices, such as the Hi-Q induction device1010, a data-link may be established to an enabled transmitter and/orother systems allowing for the exchange of sensor or other data andcommands. In some embodiments, data from sensors in the Hi-Q inductiondevice may be provided to the transmitter element via wired or wirelessconnections, and may then be further communicated, such as via awireless communications module in or coupled to the transmitter element,to associated devices such as locators, cellular phones, tablets, orother electronic computing devices or systems.

Turning to FIG. 11, a transmitter element in keeping with aspects of thepresent disclosure, such as the transmitter element embodiment 110, maybe configured to induce signals onto multiple utility lines and/or otherconductors, either sequentially or simultaneously. Each connectedutility line and/or other conductor may be induced with the same ordifferent frequencies simultaneously and/or sequentially. The signalsmay be generated in a transmitter element embodiment such as theembodiment 2000 as shown in FIG. 20 and described subsequently herein.For example, a processing module 2010 may control generation of one ormore output current signals from an output current signal module 2030,which may include analog and/or digital electronics to generate outputcurrent signals at desired amplitudes, frequencies, duty cycles, phases,and other waveform features. The output current signals may be sensed byone or more output current sensors 2033 as shown, with sensedinformation provided back to the output current signal module 2030and/or processing element or module 2010.

Various multiplexing schemes, such as the multiplexing methods describedsubsequently with respect to FIGS. 12A to 12F, may be used in variousembodiments and applications of a transmitter device system in keepingwith the present disclosure. These may be implemented in, for example, atransmitter element embodiment such as embodiment 2000 as shown in FIG.20. Code to implement these schemes may be stored or loaded into memoryspaces in memory module 2020 and then executed in processing module 2010to control output current generation from output current signal module2030. Alternate configurations of code, processing functionality, andoutput analog and digital circuitry for generating the current signalsmay also be used in alternate embodiments.

A locator device that is time synchronized with such a transmitterdevice coupled to and multiplexing different frequencies throughmultiple utility lines simultaneously and/or at varied time intervalsmay be configured to identify and determine the positions and/or otherinformation of each utility line either in an absolute sense or withrespect to each other. Various time synchronization methods may be usedincluding, but not limited to, the use of GPS or other GNS sensors withprecise timing and/or other ways to synchronize timing of all systemdevices, or through use of other timing systems, such as dedicated timesynchronization systems or systems provided time information as oneoutput type. Description of example apparatus and methods for providingtime synchronization between locators and transmitters as may be used invarious embodiments in conjunction with the disclosures herein aredescribed in the incorporated applications, including, for example,co-assigned U.S. patent application Ser. No. 13/570,211, entitledPHASE-SYNCHRONIZED BURIED OBJECT LOCATOR APPARATUS, SYSTEM, AND METHODS,filed Aug. 8, 2012, which is incorporated by reference herein.

FIG. 12A to 12F illustrate various example transmitted signalembodiments. It is noted that the signals shown in FIGS. 12A to 12F areprovided for purposes of explanation, not limitation, and that variousother signal sequences and timing may be used in various embodiments.FIG. 12A illustrates exemplary signal sequences where a transmitter inkeeping with the present disclosure may, at three utilities or otherconductors, simultaneously send output current signals, which may resultin generation of corresponding magnetic fields, at three frequencies. InFIG. 12A, as well as FIGS. 12B-12F, output signals are divided intoslots of equal time duration, although the slots need not be equal intime in some embodiments. In an exemplary embodiment the time slots areat least partially non-overlapping, however, in other embodiments two ormore slots may overlap.

In some embodiments, the duration of this time slot may allow for acomplete phase of each used frequency. A clamp 1, for instance,connected to a first utility line may be used to induce a frequency 1 inslot 1 of sequence 1210A, a clamp 2 connected to a second utility linemay be used to induce a frequency 2 in slot 1 of sequence 1220A, and aclamp 3 connected to a third utility line may be used to induce afrequency 3 in slot 1 of sequence 1230A. In FIG. 12A, a switching offrequencies 1, 2, and 3 may occur in successive time slots whereby eachfrequency is used in each sequence for each clamp as shown.

In an exemplary embodiment, the various frequencies may include, but arenot limited to, 810 kHz, 8,910 kHz, 80,190 kHz, 400,950 kHz, and 481,140kHz. In some embodiments it may be desirable to maintain complete phaseof each signal at the different frequencies in successive slots. Thismay be advantageous for a locator operation with respect to inputfiltering or other signal processing. For example, the time frame ofeach transmitted signal may include, but is not limited to, 1/60 of asecond, 1/50 of a second, 1/25 of a second, or 1/30 of a second tomaintain a complete power line frequency phase of the aforementionedexemplary frequencies. Other switching time frames which may allow for acomplete phase of each used frequency may be dependent upon the selectedfrequencies. Furthermore, the number of frequencies used may not bedependent upon the number of clamps and/or other attached signalinducing devices coupled to utility lines. In various embodiments, oneor more frequencies may be cycled through one or more clamps and/orother attached signal inducing devices.

FIG. 12B illustrates details of another embodiment of a signalingsequence using a single frequency. Signals may be sent at differentfrequencies simultaneously (as shown in FIG. 12A) and/or signals may beturned off in all but one utility during a given time slot. For example,1210B illustrates a sequence of transmission of frequency 1 from clamp 1in slot 1, with output then off for the next two slots and then repeatedin slot 4. The transmission of frequency 1 may occur in time slot 2 insequence 1220B and time slot 3 in sequence 1230B. FIG. 12C illustratesanother embodiment similar to that shown in FIG. 12B, but using twofrequencies, rather than one. In this case, sequences 1210C, 1220C, and1230C each send frequency 1 and frequency 2, with off slots in betweenas shown.

Turning to FIG. 12D, four frequencies are shown used in sequences 1210D,1220D, and 1230D. It is further noted that, while the sequences shownherein are illustrated as being periodic, they need not be. For example,a predefined pseudo-random sequence may be used, in which case, thesequence is preferable known or communicated to a corresponding locatoror other communicatively coupled device. An example of such as sequenceis shown in FIG. 12E, where each of sequences 1210E, 1220E, and 1230Emay be selected, in time and/or frequency, based on some periodic ornon-periodic sequence, such as a pseudo-random sequence. Othersequences, such as sequences using more slots of a particular frequency,dynamically determined frequencies, or other variations may also be usedin some embodiments.

Turning to FIG. 12F, a transition window, such as transition window1240, may be used between time slots, such as between slots in sequences1210F, 1220F, and 1230F as shown. The transition window 1240 may be usedto allow for the ramping up of and/or down of current within thetransmitter device in preparation of switching frequencies in eachsequence.

Turning to FIG. 12G, in some embodiments the switching of frequenciesmay be adaptive whereby the transmitted frequency or frequencies may bedetermined by the nearest utility or utilities. In a step 1250, thelocator and/or other system devices may resolve location of utilitylines, pipes, and/or other conductors in respect to the locator based ona utility type. This step may include data collection from one or moreconnected systems and devices (typically from all). In some embodiments,this may further include the use of historic data associated with thelocate site. Utility location may be directly determined via sensing theelectromagnetic signal. Such methods may also factor other sensor datasuch as navigational data and/or use of various filtering methods.

In yet other embodiments, the use of models, as described later herein,may also be used to interpret utility location. In a second step 1260,the closest utility line or lines in respect to an enabled locatordevice may be determined. In a last step 1270, the locator maycommunicate to the transmitter to induce signal only on the identifiedclosest utility or utilities. This may be achieved by inducing signalonly through the clamps connected to the desired utilities. Inalternative embodiments, the user may be able to select the desiredutility or utilities and directly or indirectly communicate to thetransmitter which utility or utilities to induce signal onto. In yetsome alternative embodiments, signal may not be fully shut off frombeing induced onto the undesired utility or utilities but ratherpredominantly induced onto the desired utility line or lines andoccasionally induced onto the undesired utility line or lines as aperiodic check. In yet further embodiments, signal may be induced ontoall utility lines and software on the locator device may choose todisplay only the desired utility.

Turning to FIG. 13, data models representing possible utility linelocation may be used to determine utility location rather than directlyutilizing sensed electromagnetic data to determine utility location. Ina step 1310, a locator device and/or other system devices may collectlocate data. This data may include the sensed electromagneticfrequencies, navigational data, and/or other system data. In someembodiments, this may also include predetermined map or historical sitedata. In a step 1320, a Kalman filter and/or other filteringtechnique(s) and/or multivariate estimation techniques may be applied tothe collected data. In a step 1330, the filtered data from step 1320 maybe applied to one or more predetermined models. In a step 1340, themodel data may be used to determine and display the utility or utilitiesposition(s). This process may then be repeated as necessary. Inalternative embodiments, both utility location of directly sensed dataand utility location of model determined data location may be displayed.

Turning to FIGS. 14A and 14B, the tray apparatus embodiment 120 mayinclude a core tray element 1410 formed, molded with, among otherfeatures, a central opening 1412. The central opening 1412 may bedimensioned to fit a transmitter device in keeping with the presentdisclosure, such as the transmitter element 110 of FIG. 1. A series ofpaint canister openings 1414 may be formed or molded along the sides ofthe tray apparatus 120 and may be dimensioned to fit one end of a paintcanister, such as the marking paint canisters 240 illustrated in FIG.2A. A paint receptacle cover 1420 may secure about each side of the coretray element 1410 containing the paint canister openings 1414 by aseries of paint receptacle cover screws 1422 or other attachmentmechanisms, such as hinges, pins, and the like. Each paint receptaclecover 1420 may be formed or molded with openings dimensioned to fit apaint canister, such as the marking paint canisters 240 illustrated inFIG. 2A. In assembly, the openings formed or molded on each paintreceptacle cover 1420 may align with a pairing one of the paint canisteropenings 1414 such that when a paint canister is placed within, thepaint canister may be angled and more readily held in placed frommovements of the tray apparatus 120 during use. When assembled, thecombination of paint canister openings 1414 formed on the core trayelement 1410 and paint receptacle covers 1420 with paint receptaclecover screws 1422 may form one embodiment of a paint canister receptacleelement 245 as illustrated in FIG. 2.

Still referring to FIGS. 14A and 14B, the core tray element 1410 mayalso be formed with a set of drawer slots 1416 dimensioned toaccommodate the storage drawers 260. Within each drawer slot 1416 alatch element 1430 may secure by latch element screws 1432. The latchelement 1430 may hold the storage drawers 260 in place when closed. Ahinge retainer element 1440 may secure via hinge retainer screws 1442within each drawer slots 1416. Additional detail regarding the storagedrawers 260 are described subsequently herein in connection with FIGS.15 and 16.

Still referring to FIGS. 14A and 14B, the core tray element 1410 mayalso be formed with one or more ground stake receptacle element 235.Each ground stake receptacle element 235 may contain a set of magnetretainer element 1450 and a series of magnets 1452 to aid in holding aground stake, such as the ground stake 230 of FIG. 2, in place. Eachmagnet retainer element 1450 may secure to the ground stake receptacleelement 235 by magnet retainer screws 1454.

Still referring to FIGS. 14A and 14B, one shoulder strap mountingelement 255 may secure to opposite sides of the core tray element 1410so that a shoulder strap such as the shoulder strap 250 of FIG. 2 maysecure to the tray apparatus 120. A series of strap mount screws 1455may be used to secure in place each shoulder strap mounting element 255.A core tray top element 1470 may secure to the top surface of the coretray element 1410 via a series of top element screws 1472. The core traytop element 1470 may be formed with hole features in two cornersdimensioned to hold the end of antenna masts such as the masts 222 ofFIG. 2A.

A series of mast retainer elements 1460 may secure within corners abovethe core tray top element 1470 where the hole features are located. Aseries of mast retainer screws 1462 may be used to secure the mastretainer elements in place. The mast retainer elements 1460, inconjunction with the hole features of the core tray top element 1470,may function to aid in securing in place masts such as the masts 222 ofFIG. 2A. A front plate 1480 may secure to a front section of the coretray element 1410 via a series of front plate screws 1482. A series oflatch mechanisms 410, as described in connection with FIG. 4, may secureto the lip of the central opening 1412 on the core tray element 1410.The latch mechanisms 410 may be secured by a series of latch mechanismscrews 1490.

Referring to FIG. 15, each storage drawer 260 may include a drawerelement 1510 that may allow for storage of tools and/or other items.Each drawer element 1510 may further be formed with a latch releasepocket 1512 on its front face with a central opening formed along thebottom thereof and a hinge component pocket feature 1514 formed alongthe corner of the drawer element 1510. The latch release pocket 1512 mayaccommodate a latch punch element 1520 such that a narrow bottom sectionon the latch punch element 1520 may protrude through the central openingformed through the bottom of the latch release pocket 1512. The latchpunch element 1520 may be further formed with a punch section 1522 thatmay stick upwards along a section of the top surface of the latch punchelement 1520. A latch punch retainer element 1530 may secure to the topof the latch release pocket 1512 so as to encapsulate the latch punchelement 1520 within. A set of punch retainer element screws 1535 maysecure the latch punch retainer element 1530 in place. When in use, auser may press on the narrow bottom section of the latch punch element1520 made to protrude through the central opening on the latch releasepocket 1512 moving the latch punch element 1520 upwards.

When made to move upwards, the punch section 1522 of the latch punchelement 1520 may pass through an opening 1532 formed on the latch punchretainer element 1530 and release the latch element 1430 (illustrated inFIG. 14A) and allow the storage drawer 260 to open. When released, thelatch punch element 1520 may return via a restoring force provided bythe small springs 1540 positioned between the latch punch element 1520and the latch punch retainer element 1530.

Still referring to FIG. 15, the hinge component pocket feature 1514 maybe formed to accommodate a long hinge spring 1550 with a top pivotelement 1560 and a bottom pivot element 1565 secured about therespective ends thereto. A hinge component retainer element 1570 maysecure to the drawer element 1512 about the bottom of the hingecomponent pocket feature 1514 via hinge retainer screws 1572 and holdthe hinge spring 1550 with top pivot element 1560 and bottom pivotelement 1565 secured within. The top opening of the hinge componentpocket feature 1514 and opening on the hinge component retainer element1570 may be dimensioned to allow a section of the top pivot element 1560and bottom pivot element 1565 respectively to pass through while stillcontaining the remainder of the hinge spring 1550 with top pivot element1560 and bottom pivot element 1565 secured in place.

As illustrated in FIG. 16, the bottom pivot element 1565 of each drawerelement 1510 may secure within a divot formed within the bottom surfaceof the drawer slots 1416 on the core tray element 1410. The top pivotelement 1560 of each drawer element 1510 may secure within the hingeretainer element 1440 secured to the top corner of the drawer slots1416. In use, the hinge spring 1550 may be made to compress and allowthe storage drawer 260 (FIG. 14B) to be removed.

Turning to FIG. 17, an alternative transmitter with dockable tray systemembodiment 1700 is illustrated. The system embodiment 1700 may include asmall transmitter element embodiment 1710 and low profile tray apparatusembodiment 1720. The transmitter element 1710 and tray apparatus 1720may be similar to the transmitter element 110 and tray apparatus 120 ofFIGS. 1-16 in function, with a reduced overall package size to increaseportability for the user. In an embodiment such as the system embodiment1700, the tray apparatus 1720 may reduce some features to allow for thereduced size. The tray apparatus 1720 may retain some features such as,but not limited to, a ground stake receptacle feature 1722, which may besimilar in function and design to the ground stake receptacle element235 of FIG. 2A, and used to transport a ground stake 1730. A shoulderstrap mounting element 1724 may also be retained to accommodate the useof a shoulder strap, such as the shoulder strap 250 illustrated in FIG.2A.

Turning to FIG. 18, the transmitter element 1710 may include a top shellhalf 1810 and a bottom shell half 1820. The top shell half 1810 mayinclude a series of accessory device and clamp jacks 1815, whereby aseries of clamps and other accessory devices (as described in previousparagraphs) may be connected to the transmitter element 1710. Electricalpower and/or data link communication may be established with thetransmitter element 1710 through such accessory device and clamp jacks1815.

Still referring to FIG. 18, in assembly a series of clips 1825 maysecure the top shell half 1810 and the bottom shell half 1820 together.Two battery terminals 1830 may secure to the top surface of the topshell half 1810 by a series of battery terminal screws 1832. In use, oneor more batteries, such as batteries 1840, may connect to thetransmitter device 1710 through the battery terminals 1830 and be usedto power the transmitter device 1710 and/or other attachedaccessories/devices.

For example, in an exemplary embodiment, the battery may be anintelligent battery configured the same as or similarly to thosedisclosed in U.S. patent application Ser. No. 13/532,721 entitledMODULAR BATTERY PACK APPARATUS, SYSTEMS, AND METHODS filed Jun. 25,2012, the content of which is incorporated by reference herein. Inalternative embodiments, a different quantity or type of batteries maybe used. Some embodiments may also include indicators, for instanceaudible or visual indicators, to indicate available power left onbatteries. Some such embodiments may include individual indicators foreach battery. The batteries 1840 may electrically connect to a PCB stack1850 within the transmitter device 1710. The PCB stack 1850 may securewithin the bottom shell half 1820.

Various electronic components, processor(s), and/or sensors notillustrated in FIG. 18 may be included in the PCB stack 1850 to allowthe transmitter element 1710 to directly and/or indirectly inducesignals onto conductors such as buried utility lines. Some such sensorsmay include, but are not limited to, inertial sensors, GNS, gyroscopicsensors, and compass sensors. Such embodiments may be configured todetermine a transmitter device's own location and/or determine and/ortrack the relative location of other enabled system devices, such asenabled utility locators.

Still referring to FIG. 18, two handle mount elements 1860 may secure tothe top of the top shell half 1810 by a series of handle screws 1865 soas to attach a handle 1870 about the top of the transmitter device 1710.The handle 1870 may aid in ease of transport of the transmitter device1710 and/or overall transmitter with dockable tray embodiment 1700. Inassembly, each of the handle mount elements 1860 may be positioned aboutthe bottom of the handle 1870 such that, when attached to the top shellhalf 1810 of the transmitter device 1710, the bottom section of thehandle 1870 may be secured by a lip on the handle mount element 1860 andsecure the handle 1870 in place.

Turning to FIG. 19, a latch mechanism 1910 may attach within the centralopening within the tray apparatus 1720 and be secured in place by aseries of latch mechanism screws 1912. The latch mechanism 1910 may besimilar in design and function to the latch mechanism 410 described inrelation to the embodiments of FIGS. 4 through 5B. A series of shouldermounting element screws 1920 may be used to secure the shoulder strapmounting element 1724 in place.

Turning to FIG. 20, details of one embodiment of a transmitter element2010, which may correspond with transmitter element 110 of FIG. 1 ortransmitter element 1710 of FIG. 17, is illustrated. Transmitter element2010 may be mechanically and/or electrically coupled to a removabledockable tray 2080, which may be in accordance with any of thepreviously disclosed dockable tray apparatus embodiments or theirequivalents. Transmitter element 2010 may be mechanically and/orelectrically or wirelessly coupled to various transmitter systemaccessories such as, for example, intelligent or non-intelligent outputcurrent clamps, intelligent or non-intelligent batteries, externaldevices such as utility locators, cellular phones, tablet devices,notebook computers, other electronic computing devices, mobile basestations, and the like. Intelligent clamps are output current clampsthat include sensors and processing elements along with associatedanalog and digital electronics and mechanical elements for structure,supports, and attachment to utilities. For example, an intelligentinductive clamps may include sensors to measure current and voltageparameters of provided output signals, time and/or position referencemodules, such as GPS modules or other time or location modules, wired orwireless communications interfaces, such as serial wired communicationmodules and/or wireless data communications modules such as Bluetooth,Zigbee, 802.11 (WiFi), and the like. Intelligent batteries may includevarious functions such as are described in the incorporatedapplications.

In an exemplary embodiment as shown, transmitter element 2010 mayinclude one or more processing elements to provide overall operationalmanagement of the transmitter and associated functions, as well as, insome embodiments, signal processing and/or control functions. Theprocessing module may be coupled to or may be integral with one or morememory modules 2025, in which data, instructions or code, and/or otherinformation may be stored. The memory modules may comprise one or morephysical memory devices. The transmitter element may include one or morewireless data communications modules 2040 to provide data communicationsvia external devices, such as, for example, associated locators,intelligent clamps, mobile base stations, cellular phones, tabletdevices, notebook computers, and/or other electronic computing systemsand devices. The transmitter element may include one or moretiming/location modules 2050 to provide location and/or timinginformation. For example, module 2050 may include a receiver module2052, such as a GPS, GLONASS, Galileo, or other location receiverdevice, which may also provide time synchronization data. Timinginformation provided from the module 2052 (e.g., GPS receiver) may beprovided as an output 2055 to a timing reference module 2056, which mayuse the timing information to generate output signals for use a timereference or “heartbeat” or for phase synchronization between thetransmitter and other devices, such as associated utility locators.

The transmitter element 2010 may include a battery dock or interface2092, which may, for example, be an intelligent battery interface toallow coupling of one or more intelligent batteries 2090. The dockand/or intelligent batteries may be intelligent or “Lucid” batteries asdescribed in the related applications. The battery dock or interface mayprovide output power and/or signals, such as data on battery condition,battery control signals, switching information, viral data or codetransfer (e.g., as described in the related applications), and the like.In some embodiments, two intelligent batteries may be dynamicallyswitched in or out depending on battery state or condition. Intelligentbatteries may also be synchronized in operation with internalrechargeable batteries 2093, such as to allow charging of an internalbattery from an external intelligent battery.

The transmitter element may include one or more ground connectioninterfaces 2035 to provide a ground connection to the soil or otherground at a site at which a locate is being done. The ground output maybe via a clamp or other direct ohmic ground connection. The transmitterelement 2010 may include one or more output current signal modules 2030,which may include analog and/or digital electronics to generate outputcurrent signals at desired frequencies, amplitudes, phase angles, andwaveforms and switching cycles. In transmitter element 2010 there arethree output current signals shown, however, various embodiments mayinclude fewer or more output current signals, and the output currentsignals may be provided separately at the same or different frequencies,such as described subsequently with respect to FIG. 22, or two or moresignals may be combined, such as described subsequently with respect toFIG. 23.

In some embodiments, an intelligent clamp interface module 2032 may beincluded to provide an interface to an intelligent clamp so as toreceive and/or send information between the intelligent clamp andtransmitter element, as well as to supply power to the intelligentclamp. The transmitter element may also include an anti-theft module2092, which may include or be coupled to a motion or tilt sensor toprovide a signal indicating movement of the transmitter element. Forexample, in one embodiment, a tilt sensor may be used to indicate motionof the transmitter element to the processing module 2020. If this motionoccurs when the transmitting element is in a fixed location or instorage or in a state where movement is undesired, an alarm or othertheft indication, such as a buzzer, lights, paging signal, text message,or other signaling may be provided to a user to indicate possible theft.The transmitter element may also include a user interface module toreceive user inputs (e.g., in the form of a keypad, mouse, magneticallysensed user interface device, joystick, switches, and the like) andprovide user outputs, such as on a display or via lights or audibleindications. User interface functions such as inputs or outputinformation may also be provided via the wireless data communicationsmodule 2040, such as to external devices such as cellular phones,tablets, computers, or associated locators or mobile base stations.Accessories 2083, such as clamps and the like as described herein, maybe attached or stored in the tray accessory 2080 during eithertransportation or operation of the transmitting system.

As noted previously herein, in some embodiments, output current signalsmay be provided at multiple frequencies on either a single outputcurrent channel or multiple channels, and via either direct or indirectcoupling clamps. FIG. 21 illustrates details 2100 of one embodiment ofmulti-frequency output signal waveform generation. In this exampleembodiment, signals at three frequencies, denoted as 2110A, 2110B, and2110C are generated, such as in a processing element in the form of adigital signal processor (DSP) or other processing device and convertedfrom digital to analog form in an analog-to-digital converter (A/D). Twoor more of the resulting signals at different frequencies may then beadded together to form combined signal 2012, and may then be furtherprocessed, such as via amplification, filtering, and the like, beforebeing provided to an output current clamp (direct or indirect).

In some embodiments, multiple output current signals may be provided.Generation of output current signals as shown in FIG. 21, with multiplefrequency signals combined to generate a single output current signal,may be used. Further, in embodiments of transmitter elements withmultiple outputs, different combinations of output frequency signals maybe provided on different output. For example, a first output may includethe set of three frequencies as shown in FIG. 21, wherein as a secondoutput may include a set of three different frequencies. Thesefrequencies may, for example, be selected from a table of frequencies,such as the frequency tables shown in FIG. 25 and FIG. 26.

FIG. 22 illustrates details of one embodiment of apparatus 2200 forproviding a plurality of output current signals from a transmittingelement at three different frequencies to three different outputs. It isnoted that, in some embodiments, that two or more of the output signalsmay be provided at the same frequency rather than at the three differentfrequencies as shown, and that fewer or more than three output signalsmay be provided in various embodiments.

In operation, a timing or heartbeat signal 2213 may be generated in thetransmitting element, such as in the location/timing module 2050 asshown in FIG. 20 of transmitting element 2010. This timing signal may beused by a processing module and output circuitry 2220 to generate outputsignals in particular time slots, such as described previously herein.The outputs 2210 may then be provided to output conditioning circuits2232 and output couplers 2234, with the resulting current signals thenflowing in one or more utilities.

FIG. 23 illustrates details of another embodiment of an apparatus 2300for providing multi-frequency output current signals from a transmittingelement. In operation, a timing or heartbeat signal 2313 may begenerated in the transmitting element, such as in the location/timingmodule 2050 as shown in FIG. 20 of transmitting element 2010. Thistiming signal may be used by a processing module and output circuitry2320 to generate output signals, which may be in particular time slotsat different frequencies, such as described previously herein. Two ormore of the outputs 2310 may be combined and provided to an outputcoupling element, such as an inductive clamp. For example, low frequencyand medium frequency signals 2310A and 2310B may be added together in asumming device 2333 and then provided to an output amplifier 2340. Highfrequency signal 3210C may be coupled, via coupling transformer 2334 andcapacitor 2337, or other coupling elements, to the amplifier 2340output, with the resulting multi-frequency output current signal 2312provided to an inductive clamp for application to a utility. It is notedthat the amplitudes of the various component signals in eitherembodiment 2200 or 2300 may be different. For example, the amplitudes ofthe output signals may increase with frequency as shown in FIG. 23, withthe higher frequency signal having a substantially larger amplitude thatthe lower frequency signals (the lower frequency signals may beconstrained in amplitude for, for example, safety reasons.

FIG. 24 illustrates details of an embodiment 2400 of a transmitterelement 2410, which may correspond with transmitter elements aspreviously described herein, coupled to both an intelligent and anon-intelligent output current clamp, as well as a non-intelligent ohmic(direct connect) clamp.

Transmitter element 2410 may include various modules such as describedherein including, for example, an output current signal module forindirect (e.g., inductive) connections 2430-1, to which anon-intelligent inductive clamp 2433 may be coupled, as well as a directconnect clamp 2435 and associated direct connect signal module 2430-2for providing a direct ohmic physical output current connection. Signalsmay be provided on these clamps at one or more frequencies, during thesame or alternate slots, and/or at the same or different amplitudes.Example operating frequencies may be in the 800 Hz range, the 8 KHzrange, the 80 kHz range, and the 480 kHz range, although otherfrequencies or combinations of frequencies may be used in variousembodiments.

The transmitter element 2410 may also be coupled, via an intelligentclamp interface module 2432, to one or more intelligent clamps 2434.These intelligent clamps may include analog and/or digital electronicsand sensors to generate and communicate data or information between theintelligent clamp 2434 and either the transmitter element 2410 orexternal devices, such as associated utility locators, tablets, cellularphones, notebook computers, other electronic computing systems, and/ormobile base stations. Intelligent clamp 3434 may include an antenna anda wireless data communications module (not shown) to wirelessly send orreceive data from other devices, such as the transmitter element and anyassociated utility locators.

A processing module 2420 may be used to provide signal processing,control, and overall operations functions for the transmitting element.One or more wireless data communications modules 2440 may be included tocommunicate with intelligent clamps or other devices, such as associatedutility locators, smart phones, tablets, notebook computers, otherelectronic computing systems, and/or mobile base stations.

FIGS. 25 and 26 illustrate embodiment of an example frequency table formulti-frequency transmitter operation as may be used with the variousmulti-frequency embodiments described previously herein. The frequenciesin table 2500 are selected so as to avoid harmonics from 60 Hz power,but various other frequencies may be used in alternate embodiments.Similarly, the frequencies in table 2600 are selected so as to avoidharmonics from 50 Hz power, but various other frequencies may be used inalternate embodiments. The color coding is standards-based forparticular utility types, and the lower four rows of the table are forsondes or induction usage.

Table 2500 was derived based on the following constraints: 1) Avoid oddharmonics+/−30 Hz, avoid even harmonics+/−10 Hz; 2) Keep Medium directconnect frequencies just under the 9 kHz FCC limit for unlimited power;3) Cluster frequencies, including sonde and induction frequencies, asclose together as possible (e.g., 20 Hz spacing) to narrow mixer rangesand filtering ranges for output circuits; 4) Keep the very highfrequencies (for US, 60 Hz use) under 490 kHz.

Table 2600 was derived based on the following constraints: 1) Avoid oddharmonics+/−26 Hz, avoid even harmonics+/−8 Hz; 2) Cluster frequencies,including sonde and induction frequencies, as close together as possible(e.g., 16 Hz spacing) to narrow mixer ranges and filtering ranges foroutput circuits; 3) Keep the very high frequencies (for 50 Hz world use)under 133 kHz.

In an example operation, unique frequencies are used for particularutility types. For example, inductive clamp #1 or direct connect #2 maybe set to the “Electric” frequencies and might broadcast one or more (orall) of the frequencies shown in the table (e.g., Table 2500 or 2600).GPS phase-locking and time synchronization, as well as use of highervoltages at higher frequencies, may also be used in various embodiments.

In the keeping with the present disclosure, spacing between chosenfrequencies may be determined in a variety of ways and/or using avariety of frequency selection schemes. In some such frequency selectionschemes, spacing of frequencies may be determined by a mathematicalformula. In yet further embodiments, may be preset and/or chosen by theuser and/or determined by the device/apparatus.

Turning to FIG. 27, an exemplary embodiment of a locating system 2700which includes a transmitter and tray device 2710 in conjunction with alocator 2760 is shown. The transmitter and tray device 2710 may beconfigured to generate current signals to be provided to hidden orburied utilities to induce electromagnetic signals onto a conductor(s),such as the utility line 2720, which is typically buried underground orotherwise at least partially hidden from direct access. In use, a clamp2730, which may be a smart clamp as described previously herein mayphysically attach to the utility line 2720. The clamp 2730 may beconnected to the transmitter and tray device 2710 via a cord or cable. Agrounding stake 2740 may further be connected to the transmitter andtray device 2710 via a cord or cable and used for grounding forinstance, when the transmitter and tray device 2710 is used in a directconnect mode. A user 2750 equipped with a corresponding utility locator,such as locator device 2760 as shown, which is configured to sense theemitted magnetic field signal(s) associated with current flow in theutility 2720, may then determine information associated with the buriedutility 2720, such as depth, position, location, orientation, conductorcurrent, soil condition, presence of other utilities, and the like. Thelocator 2760 may further include or be communicatively coupled to a GPSsystem (not shown in FIG. 27) as described subsequently herein. The GPSsystem may include a combined GPS and sonde antenna array, a GPSreceiver, and sonde driver circuitry and power supplies.

Turning to FIGS. 28 and 29, the transmitter and tray device 2710 mayfurther be comprised of a substantially lunchbox shaped body 2810. Thedevice body 2810 may further be formed with a handle feature 2812 andtransparent stowage port doors 2814 along the front. The transparentstowage port doors 2814 may be configured to open as illustrated in FIG.29 by release the latch mechanisms 2816. One or more clamp andperipheral interface connectors 2818 may be located centrally above arechargeable battery 2820. In an exemplary embodiment, the battery maybe an intelligent battery configured similarly to those disclosed inU.S. patent application Ser. No. 13/532,721 entitled MODULAR BATTERYPACK APPARATUS, SYSTEMS, AND METHODS filed Jun. 25, 2012, the content ofwhich is incorporated by reference herein in its entirety. Asillustrated in FIG. 28, a grounding stake 2830 may attach to the top ofthe transmitter and tray device 2710 and be secured thereto in transportand storage. Magnets (not illustrated) may be used to secure thegrounding stake 2830 in place.

Turning to FIGS. 29 and 30, stowage ports 2910 may be accessed on thetransmitter and tray device 2710 when stowage port doors 2814 areopened. The stowage ports 2910 may be used, for instance, for cable andtool storage. More terminals for connecting additional clamps and/orother peripheral devices may be configured within the stowage ports 2910such as the stowage port interface connectors 3010 illustrated in FIG.30. A direct connect clamp 2920 may connect to such one of the stowageport interface connectors 3010. The transmitter and tray device 2710, asillustrated in FIGS. 29 and 30, show an intelligent clamp 2930 connectedto one of the clamp and peripheral interface connectors 2818. In otherembodiments, inductive clamps and associated elements, such as, forexample, are described in co-assigned U.S. patent application Ser. No.14/446,279, entitled INDUCTIVE CLAMP DEVICES, SYSTEMS, AND METHODS,filed Jul. 29, 2014, may also be used with a transmitter and tray devicesuch as that shown in FIGS. 27-30.

As described previously herein, in some embodiments a GPS system orother location or positioning system may be communicatively coupled to alocator and/or transmitter. In an exemplary embodiment, a GPS and sondesystem including a GPS and sonde antenna array, a GPS receiver, andassociated elements including a GPS receiver module and power supply maybe used to provide data for generating a precise location, in referencecoordinates such as latitude, longitude, and/or altitude or depth, of aburied utility or object. If the GPS antenna is located separately fromthe locator, such a configuration may be used to provide both accurateGPS location data and relative distance data between the GPS systemantenna and the locator so that an absolute location of a buried utilitycan be determined, displayed on a locator display, stored in a memoryfor future use, and/or transmitted to other locate system elements or toexternal computing systems or databases.

An example embodiment of such a configuration is shown in systemembodiment 3300 of FIG. 33. In this embodiment, a user 3340 has a GPSsonde system 3330 with a combined GPS and sonde antenna array 3310 andassociated electronics 3320, such as a GPS receiver, sonde power supplyand driver circuitry, and the like. This system may be worn on the backof a user 3340 or elsewhere on the user or positioned on the ground,another object, on a vehicle, and the like. Satellite or otherpositioning system signals 3312 may be received by the antenna array3310, and sonde magnetic field signals 3314 may be sent by the array3310 and received by omnidirectional antenna arrays of locator 3350.Locator 3350 may also receive magnetic field signals from buried utilityor object 3305. A GPS receiver module in electronics 3320 may be used todetermine reference location information, such as inlatitude/longitude/altitude coordinates or in other coordinates or dataforms, and this information may be provided to the locator system 3350.

Electronics, such as in one or more processing elements of locator 3350,may determine a distance L1 between the buried utility 3305 and areference position on the locator 3350 based on the positioning of thelocator antenna array element 3352. Additional elements in the locator3350 (not shown), such as an optical or acoustic ground tracker moduleor other distance measuring elements may be used to determine thedistance L3 between the locator 3350 and the ground surface 3307, andthe distance L2 of the locator 3350 above the ground may be determinedby subtracting L4 (a known length of the locator) from L3.

In addition, the locator 3350 may similarly determine relative distanceinformation between the reference position on the locator and the GPSantenna 3310 phase center (either based on a shared GPS antenna phasecenter and sonde centroid or a known offset between the two). Thisrelative distance information may then be used in the locator (and/orpost-processed) to determine an offset of the buried utility locationrelative to the reference coordinates determined by the GPS receiver.

FIG. 34A illustrates details of one embodiment of a GPS and sonde system3400 from a side view, which may correspond with GPS sonde system 3300of FIG. 33. As shown in FIG. 34A, a GPS and sonde antenna array 3410 mayinclude a GPS disk, puck, or patch-type antenna element 3411 and a sondeantenna element 3413 that are integral with or coupled to each other ina fixed, known orientation. In an exemplary embodiment the GPS antennacoil center or centroid is at substantially the same point in space asthe sonde antenna centroid, however, in other embodiments the two may beoffset at a known distance and orientation relative to each other.Electronics 3420 may include sonde drive circuitry 3424 and/or a powersupply, such as a battery 3426, which may be an intelligent battery asdescribed previously herein or another battery or power supply module.The electronics may additionally include one or more GPS receivermodules 3422 for determining a reference position relative to the GPSantenna phase center. In addition the electronics may include a wired orwireless communications module (not shown) for sending the referenceposition information from the GPS and sonde system 3400 to an associatedlocator (e.g., such as the locator 3350 of FIG. 33).

FIG. 34B illustrates additional details of an exemplary embodiment ofthe GPS and sonde antenna array 3410 from a top view. As shown in FIG.34B, a sonde coil 3413, having coils wound circularly around thecircular-shaped GPS antenna element 3411, may be fixedly coupled to GPSantenna element 3411 so that the GPS antenna phase center and sonde coilcentroid share substantially the same point in space at point 3415.Spacers or other connection mechanisms may be used to mechanically joinelements 3411 and 3413, or they may alternately be integral with orotherwise coupled to each other in a fixed orientation.

In one or more exemplary embodiments, the functions, methods, andprocesses described may be implemented in whole or in part in hardware,software, firmware, or any combination thereof. If implemented insoftware, the functions may be stored on or encoded as one or moreinstructions or code on a computer-readable medium. Computer-readablemedia includes computer storage media. Storage media may be anyavailable media that can be accessed by a computer.

By way of example, and not limitation, such computer-readable media caninclude RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magneticdisk storage or other magnetic storage devices, or any other medium thatcan be used to carry or store desired program code in the form ofinstructions or data structures and that can be accessed by a computer.Disk and disc, as used herein, includes compact disc (CD), laser disc,optical disc, digital versatile disc (DVD), floppy disk and blu-ray discwhere disks usually reproduce data magnetically, while discs reproducedata optically with lasers. Combinations of the above should also beincluded within the scope of computer-readable media

The various illustrative functions, modules, and circuits described inconnection with the embodiments disclosed herein with respect to locatorsignal processing and/or transmitter signal switching and output signalgeneration and coupling, control functions, data communicationfunctions, wireless communications functions, and/or other functionsdescribed herein may be implemented or performed in one or moreprocessing elements or modules with a general purpose processor, adigital signal processor (DSP), an application specific integratedcircuit (ASIC), a field programmable gate array (FPGA) or otherprogrammable logic device, discrete gate or transistor logic, discretehardware components, or any combination thereof designed to perform thefunctions described herein. A general purpose processor may be amicroprocessor, but in the alternative, the processor may be anyconventional processor, controller, microcontroller, or state machine. Aprocessor may also be implemented as a combination of computing devices,e.g., a combination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration.

Those of skill in the art would understand that information and signalsmay be represented using any of a variety of different technologies andtechniques. For example, data, instructions, commands, information,signals, bits, symbols, and chips that may be referenced throughout theabove description may be represented by voltages, currents,electromagnetic waves, magnetic fields or particles, optical fields orparticles, or any combination thereof.

The disclosures are not intended to be limited to the aspects shownherein, but are to be accorded the full scope consistent with thespecification and drawings, wherein reference to an element in thesingular is not intended to mean “one and only one” unless specificallyso stated, but rather “one or more.” Unless specifically statedotherwise, the term “some” refers to one or more. A phrase referring to“at least one of” a list of items refers to any combination of thoseitems, including single members. As an example, “at least one of: a, b,or c” is intended to cover: a; b; c; a and b; a and c; b and c; and a, band c.

The previous description of the disclosed aspects is provided to enableany person skilled in the art to make or use embodiments of the presentinvention. Various modifications to these aspects will be readilyapparent to those skilled in the art, and the generic principles definedherein may be applied to other aspects without departing from the spiritor scope of the disclosure and invention. Thus, the invention is notintended to be limited to the aspects shown herein but is to be accordedthe widest scope consistent with the appended claims and theirequivalents.

We claim:
 1. An antenna apparatus, comprising: a magnetic field sonde;and a satellite location system antenna node oriented in a predefinedposition relative to the magnetic field sonde; wherein the satellitelocation system antenna node includes a GPS antenna node and themagnetic field sonde includes a coil, and wherein a GPS antenna phasecenter of the GPS antenna node and a sonde outer coil centroid of themagnetic field sonde share a common point in space.
 2. The apparatus ofclaim 1, further including a satellite location system receiver coupledto the satellite location system antenna node for generating locationdata corresponding to a location of the antenna apparatus.
 3. Theapparatus of claim 1, wherein the satellite location system antenna nodefurther comprises a GLONASS antenna.
 4. An antenna apparatus,comprising: a magnetic field sonde; and a satellite location systemantenna node oriented in a predefined position relative to the magneticfield sonde; wherein the satellite location system antenna nodecomprises a GPS antenna, and wherein the magnetic field sonde is in anair core coil configuration and a sonde outer coil centroid of themagnetic field sonde is positioned at a defined position relative to anantenna phase center of the GPS antenna node.
 5. The apparatus of claim4, wherein the centroid and the antenna phase center are aligned.
 6. Theapparatus of claim 5, wherein the satellite location system associatesrelative position or distance with buried utility information determinedfrom magnetic field signals emitted by a buried utility or object,wherein the buried utility information includes depth and/or relativehorizontal offset.
 7. The apparatus of claim 6, further comprising amemory, wherein the memory is configured to store the buried utilityinformation.
 8. A utility locating system, comprising: an antennaapparatus including a magnetic field sonde and a satellite locationsystem antenna node oriented in a predefined position relative to themagnetic field sonde, wherein the satellite location system antenna nodecomprises a GPS and/or a GLONASS antenna; a satellite location systemreceiver coupled to the satellite location system antenna node forgenerating location data corresponding to a location of the antennaapparatus; a buried utility locator, wherein the buried utility locatorincludes a transmitter and receiver, or a transceiver, for receivingsignals from the antenna apparatus associated with the location of aburied utility, and at least one memory for storing the location dataand/or data associated with the location of a buried utility; whereinthe the magnetic field sonde includes a coil, and wherein a GPS and/orGLONASS antenna phase center of the satellite system antenna node and asonde outer coil centroid of the magnetic field sonde share a commonpoint in space.
 9. A utility locating system, comprising: an antennaapparatus including a magnetic field sonde and a satellite locationsystem antenna node oriented in a predefined position relative to themagnetic field sonde, wherein the satellite location system antenna nodecomprises a GPS and/or a GLONASS antenna; a satellite location systemreceiver coupled to the satellite location system antenna node forgenerating location data corresponding to a location of the antennaapparatus; a buried utility locator, wherein the buried utility locatorincludes a transmitter and receiver, or a transceiver, for receivingsignals from the antenna apparatus associated with the location of aburied utility, and at least one memory for storing the location dataand/or data associated with the location of a buried utility; whereinthe magnetic field sonde is in an air core coil configuration and asonde outer coil centroid of the magnetic field sonde is positioned at adefined position relative to an antenna phase center of the satellitesystem antenna node.
 10. The utility locating system of claim 9, whereinthe centroid and the antenna phase center are aligned.
 11. The utilitylocating system of claim 10, wherein the satellite location systemassociates relative position or distance with buried utility informationdetermined from magnetic field signals emitted by a buried utility orobject, wherein the utility information includes depth and/or relativehorizontal offset.
 12. The utility locating system of claim 11, whereinutility information further comprises precise location data, wherein theprecise location data may include latitude, longitude, or altitudecoordinates of the antenna phase center.
 13. The utility locating systemof claim 12, further including wired or wireless connections forcommunicating utility data, wherein the wireless connections may includea transmitter, receiver, and/or transceiver modules.
 14. The utilitylocating system of claim 13, wherein the transmitter, receiver, and/ortransceiver modules are configurable to communicate via Bluetooth and/orWiFi.